自校正内模控制器
A New Self-Tuning Internal Model Controller
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摘要: 提出了设计自校正内模控制的新方法。该方法把输出预测误差划分为有规律和无规律误差两部分。通过在线辨识建立有规律误差的预报模型,由此模型对误差值进行自适应预报,达到对内模控制器的在线校正,而对无规律的误差只作闭环反馈修正,最后达到消除系统的稳态余差。本方法比通常自校正内模控制算法的运算量大大减少,而在对象参数在一定范围内漂移时,同样能取到自校正效果。Abstract: A new designing method for self-tuning Internal Model Controller(IMC) is introduced. The output error is divided into two parts: the regular error and the nonregular error. Relying on the adaptive prediction based on the on-line regular error model, the IMC can be regulated on-line. Whereas, the steady error of system is eliminated by nonregular error feedback. The method has the advantage of easier calculation than normal ones. When the plant parameters change within a certain range, it can still work well.